arcs::common_interface::RegisterControl类 参考

通用寄存器 更多...

#include <register_control.h>

Public 成员函数
	RegisterControl ()
virtual	~RegisterControl ()
bool	getBoolInput (uint32_t address)
	Reads the boolean from one of the input registers, which can also be accessed by a Field bus. 更多...
int	setBoolInput (uint32_t address, bool value)
int	getInt32Input (uint32_t address)
	Reads the integer from one of the input registers, which can also be accessed by a Field bus. 更多...
int	setInt32Input (uint32_t address, int value)
float	getFloatInput (uint32_t address)
	Reads the float from one of the input registers, which can also be accessed by a Field bus. 更多...
int	setFloatInput (uint32_t address, float value)
double	getDoubleInput (uint32_t address)
int	setDoubleInput (uint32_t address, double value)
bool	getBoolOutput (uint32_t address)
	Reads the boolean from one of the output registers, which can also be accessed by a Field bus. 更多...
int	setBoolOutput (uint32_t address, bool value)
int	getInt32Output (uint32_t address)
	Reads the integer from one of the output registers, which can also be accessed by a Field bus. 更多...
int	setInt32Output (uint32_t address, int value)
float	getFloatOutput (uint32_t address)
	Reads the float from one of the output registers, which can also be accessed by a Field bus. 更多...
int	setFloatOutput (uint32_t address, float value)
double	getDoubleOutput (uint32_t address)
int	setDoubleOutput (uint32_t address, double value)
int16_t	getInt16Register (uint32_t address)
	用于 Modbus Slave 更多...
int	setInt16Register (uint32_t address, int16_t value)
bool	hasNamedVariable (const std::string &key)
	具名变量是否存在 更多...
std::string	getNamedVariableType (const std::string &key)
	获取具名变量的类型 更多...
bool	variableUpdated (const std::string &key, uint64_t since)
	具名变量是否更新 更多...
bool	getBool (const std::string &key, bool default_value)
	获取变量值 更多...
int	setBool (const std::string &key, bool value)
	设置/更新变量值 更多...
std::vector< char >	getVecChar (const std::string &key, const std::vector< char > &default_value)
	获取变量值 更多...
int	setVecChar (const std::string &key, const std::vector< char > &value)
	设置/更新变量值 更多...
int	getInt32 (const std::string &key, int default_value)
	获取变量值 更多...
int	setInt32 (const std::string &key, int value)
	设置/更新变量值 更多...
std::vector< int32_t >	getVecInt32 (const std::string &key, const std::vector< int32_t > &default_value)
	获取变量值 更多...
int	setVecInt32 (const std::string &key, const std::vector< int32_t > &value)
	设置/更新变量值 更多...
float	getFloat (const std::string &key, float default_value)
	获取变量值 更多...
int	setFloat (const std::string &key, float value)
	设置/更新变量值 更多...
std::vector< float >	getVecFloat (const std::string &key, const std::vector< float > &default_value)
	获取变量值 更多...
int	setVecFloat (const std::string &key, const std::vector< float > &value)
	设置/更新变量值 更多...
double	getDouble (const std::string &key, double default_value)
	获取变量值 更多...
int	setDouble (const std::string &key, double value)
	设置/更新变量值 更多...
std::vector< double >	getVecDouble (const std::string &key, const std::vector< double > &default_value)
	获取变量值 更多...
int	setVecDouble (const std::string &key, const std::vector< double > &value)
	设置/更新变量值 更多...
std::string	getString (const std::string &key, const std::string &default_value)
	获取变量值 更多...
int	setString (const std::string &key, const std::string &value)
	设置/更新变量值 更多...
int	clearNamedVariable (const std::string &key)
	清除变量 更多...
int	setWatchDog (const std::string &key, double timeout, int action)
	设置看门狗 更多...
int	getWatchDogAction (const std::string &key)
	获取看门狗动作 更多...
int	getWatchDogTimeout (const std::string &key)
	获取看门狗超时时间 更多...
int	modbusAddSignal (const std::string &device_info, int slave_number, int signal_address, int signal_type, const std::string &signal_name, bool sequential_mode)
	Adds a new modbus signal for the controller to supervise. 更多...
int	modbusDeleteSignal (const std::string &signal_name)
	Deletes the signal identified by the supplied signal name. 更多...
int	modbusDeleteAllSignals ()
	Delete all modbus signals. 更多...
int	modbusGetSignalStatus (const std::string &signal_name)
	Reads the current value of a specific signal. 更多...
std::vector< std::string >	modbusGetSignalNames ()
	获取所有信号的名字集合 更多...
std::vector< int >	modbusGetSignalTypes ()
	获取所有信号的类型集合 更多...
std::vector< int >	modbusGetSignalValues ()
	获取所有信号的数值集合 更多...
std::vector< int >	modbusGetSignalErrors ()
	获取所有信号的请求是否有错误(0:无错误,其他:有错误)集合 更多...
int	modbusSendCustomCommand (const std::string &device_info, int slave_number, int function_code, const std::vector< uint8_t > &data)
	Sends a command specified by the user to the modbus unit located on the specified IP address. 更多...
int	modbusSetDigitalInputAction (const std::string &robot_name, const std::string &signal_name, StandardInputAction action)
	Sets the selected digital input signal to either a "default" or "freedrive" action. 更多...
int	modbusSetOutputRunstate (const std::string &robot_name, const std::string &signal_name, StandardOutputRunState runstate)
	设置 Modbus 信号输出动作 更多...
int	modbusSetOutputSignal (const std::string &signal_name, uint16_t value)
	Sets the output register signal identified by the given name to the given value. 更多...
int	modbusSetOutputSignalPulse (const std::string &signal_name, uint16_t value, double duration)
	设置modbus信号输出脉冲(仅支持线圈输出类型) 更多...
int	modbusSetSignalUpdateFrequency (const std::string &signal_name, int update_frequency)
	Sets the frequency with which the robot will send requests to the Modbus controller to either read or write the signal value. 更多...
int	modbusGetSignalIndex (const std::string &signal_name)
	获取指定 modbus 信号索引，从0开始，不能存在则返回-1 更多...
int	modbusGetSignalError (const std::string &signal_name)
	获取指定 modbus 信号的错误状态 更多...
int	getModbusDeviceStatus (const std::string &device_name)
	获取指定 modbus 设备的连接状态 更多...

Protected 属性
void *	d_

详细描述

通用寄存器

在文件 register_control.h 第 63 行定义.

构造及析构函数说明

arcs::common_interface::RegisterControl::RegisterControl

(

)

virtual arcs::common_interface::RegisterControl::~RegisterControl ( )

virtual

成员函数说明

int arcs::common_interface::RegisterControl::clearNamedVariable

(

const std::string &

key

)

清除变量

参数

key

返回

Python函数原型

clearNamedVariable(self: pyaubo_sdk.RegisterControl, arg0: str) -> int

Lua函数原型

clearNamedVariable(key: string) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.clearNamedVariable","params":["custom"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":1}

bool arcs::common_interface::RegisterControl::getBool	(	const std::string &	key,
		bool	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getBool(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: bool) -> bool

Lua函数原型

getBool(key: string, default_value: boolean) -> boolean

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getBool","params":["custom",false],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":true}

bool arcs::common_interface::RegisterControl::getBoolInput

(

uint32_t

address

)

Reads the boolean from one of the input registers, which can also be accessed by a Field bus.

Note, uses it’s own memory space.

从一个输入寄存器中读取布尔值，也可以通过现场总线进行访问。 注意，它使用自己的内存空间。

参数

address

Address of the register (0:127) 寄存器的地址（0:127）

返回

The boolean value held by the register (true, false) 寄存器中保存的布尔值（true、false）

注解

The lower range of the boolean input registers [0:63] is reserved for FieldBus/PLC interface usage. The upper range [64:127] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients. 布尔输入寄存器的较低范围[0:63]保留供FieldBus/PLC接口使用。 较高范围[64:127]无法通过FieldBus/PLC接口访问，因为它保留供外部RTDE客户端使用。

Python函数原型

getBoolInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> bool

Lua函数原型

getBoolInput(address: number) -> boolean

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getBoolInput","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":false}

bool arcs::common_interface::RegisterControl::getBoolOutput

(

uint32_t

address

)

Reads the boolean from one of the output registers, which can also be accessed by a Field bus.

Note, uses it’s own memory space.

从一个输出寄存器中读取布尔值，也可以通过现场总线进行访问。 注意，它使用自己的内存空间。

参数

address

Address of the register (0:127) 寄存器地址（0:127）

返回

The boolean value held by the register (true, false) 寄存器中保存的布尔值（true, false）

注解

The lower range of the boolean output registers [0:63] is reserved for FieldBus/PLC interface usage. The upper range [64:127] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients 布尔输出寄存器的较低范围[0:63]保留供现场总线/PLC接口使用。 较高范围[64:127]不能通过现场总线/PLC接口访问，因为它们是为外部RTDE客户端保留的。

Python函数原型

getBoolOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> bool

Lua函数原型

getBoolOutput(address: number) -> boolean

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getBoolOutput","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":false}

double arcs::common_interface::RegisterControl::getDouble	(	const std::string &	key,
		double	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> float

Lua函数原型

getDouble(key: string, default_value: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getDouble","params":["custom",0.0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0.0}

double arcs::common_interface::RegisterControl::getDoubleInput

(

uint32_t

address

)

参数

address

返回

Python函数原型

getDoubleInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float

Lua函数原型

getDoubleInput(address: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getDoubleInput","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0.0}

double arcs::common_interface::RegisterControl::getDoubleOutput

(

uint32_t

address

)

参数

address

返回

Python函数原型

getDoubleOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float

Lua函数原型

getDoubleOutput(address: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getDoubleOutput","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0.0}

float arcs::common_interface::RegisterControl::getFloat	(	const std::string &	key,
		float	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> float

Lua函数原型

getFloat(key: string, default_value: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getFloat","params":["custom",0.0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":4.400000095367432}

float arcs::common_interface::RegisterControl::getFloatInput

(

uint32_t

address

)

Reads the float from one of the input registers, which can also be accessed by a Field bus.

Note, uses it’s own memory space.

从一个输入寄存器中读取浮点数，也可以通过现场总线进行访问。 注意，它使用自己的内存空间。

参数

address

Address of the register (0:47) 寄存器地址（0:47）

返回

The value held by the register (float) 寄存器中保存的浮点数值

注解

The lower range of the float input registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients. 浮点数输入寄存器的较低范围[0:23]保留供现场总线/PLC接口使用。 较高范围[24:47]不能通过现场总线/PLC接口访问，因为它们是为外部RTDE客户端保留的。

Python函数原型

getFloatInput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float

Lua函数原型

getFloatInput(address: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getFloatInput","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0.0}

float arcs::common_interface::RegisterControl::getFloatOutput

(

uint32_t

address

)

Reads the float from one of the output registers, which can also be accessed by a Field bus.

Note, uses it’s own memory space.

从一个输出寄存器中读取浮点数，也可以通过现场总线进行访问。 注意，它使用自己的内存空间。

参数

address

Address of the register (0:47) 寄存器地址（0:47）

返回

The value held by the register (float) 寄存器中保存的浮点数值（float）

注解

The lower range of the float output registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients. 浮点数输出寄存器的较低范围[0:23]保留供现场总线/PLC接口使用。 较高范围[24:47]不能通过现场总线/PLC接口访问，因为它们是为外部RTDE客户端保留的。

Python函数原型

getFloatOutput(self: pyaubo_sdk.RegisterControl, arg0: int) -> float

Lua函数原型

getFloatOutput(address: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getFloatOutput","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":3.3}

int16_t arcs::common_interface::RegisterControl::getInt16Register

(

uint32_t

address

)

用于 Modbus Slave

参数

address

返回

Python函数原型

getInt16Register(self: pyaubo_sdk.RegisterControl, arg0: int) -> int

Lua函数原型

getInt16Register(address: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getInt16Register","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::getInt32	(	const std::string &	key,
		int	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int

Lua函数原型

getInt32(key: string, default_value: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getInt32","params":["custom",0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":6}

int arcs::common_interface::RegisterControl::getInt32Input

(

uint32_t

address

)

Reads the integer from one of the input registers, which can also be accessed by a Field bus.

Note, uses it’s own memory space.

从一个输入寄存器中读取整数值，也可以通过现场总线进行访问。 注意，它使用自己的内存空间。

参数

address

Address of the register (0:47) 寄存器的地址（0:47）

返回

The value held by the register [-2,147,483,648 : 2,147,483,647] 寄存器中保存的整数值[-2,147,483,648 : 2,147,483,647]

注解

The lower range of the integer input registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients. 整数输入寄存器的较低范围[0:23]保留供FieldBus/PLC接口使用。 较高范围[24:47]无法通过FieldBus/PLC接口访问，因为它保留供外部RTDE客户端使用。

Python函数原型

getInt32Input(self: pyaubo_sdk.RegisterControl, arg0: int) -> int

Lua函数原型

getInt32Input(address: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getInt32Input","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::getInt32Output

(

uint32_t

address

)

Reads the integer from one of the output registers, which can also be accessed by a Field bus.

Note, uses it’s own memory space.

从一个输出寄存器中读取整数值，也可以通过现场总线进行访问。 注意，它使用自己的内存空间。

参数

address

Address of the register (0:47) 寄存器地址（0:47）

返回

The int value held by the register [-2,147,483,648 : 2,147,483,647] 寄存器中保存的整数值（-2,147,483,648 : 2,147,483,647）

注解

The lower range of the integer output registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients. 整数输出寄存器的较低范围[0:23]保留供现场总线/PLC接口使用。 较高范围[24:47]不能通过现场总线/PLC接口访问，因为它们是为外部RTDE客户端保留的。

Python函数原型

getInt32Output(self: pyaubo_sdk.RegisterControl, arg0: int) -> int

Lua函数原型

getInt32Output(address: number) -> number

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getInt32Output","params":[0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::getModbusDeviceStatus

(

const std::string &

device_name

)

获取指定 modbus 设备的连接状态

参数

device_name

设备名是TCP格式，"ip:port", 例如："127.0.0.1:502" 设备名是RTU格式，"serial_port", 例如："/dev/ttyUSB0"

返回

0: 表示设备处于连接状态 -1: 表示设备不存在 -2: 表示设备处于断开状态

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getModbusDeviceStatus","params":["172.16.26.248:502"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

std::string arcs::common_interface::RegisterControl::getNamedVariableType

(

const std::string &

key

)

获取具名变量的类型

参数

key

返回

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getNamedVariableType","params":["custom"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":"NONE"}

std::string arcs::common_interface::RegisterControl::getString	(	const std::string &	key,
		const std::string &	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getString(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str) -> str

Lua函数原型

getString(key: string, default_value: string) -> string

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getString","params":["custom",""],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":"test"}

std::vector<char> arcs::common_interface::RegisterControl::getVecChar	(	const std::string &	key,
		const std::vector< char > &	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getVecChar(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[str]) -> List[str]

Lua函数原型

getVecChar(key: string, default_value: table) -> table

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getVecChar","params":["custom",[]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":[0,1,0]}

std::vector<double> arcs::common_interface::RegisterControl::getVecDouble	(	const std::string &	key,
		const std::vector< double > &	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getVecDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[float]) -> List[float]

Lua函数原型

getVecDouble(key: string, default_value: table) -> table

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getVecDouble","params":["custom",[]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":[0.1,0.2,0.3]}

std::vector<float> arcs::common_interface::RegisterControl::getVecFloat	(	const std::string &	key,
		const std::vector< float > &	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getVecFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[float]) -> List[float]

Lua函数原型

getVecFloat(key: string, default_value: table) -> table

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getVecFloat","params":["custom",[]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":[0.0,0.10000000149011612,3.299999952316284]}

std::vector<int32_t> arcs::common_interface::RegisterControl::getVecInt32	(	const std::string &	key,
		const std::vector< int32_t > &	default_value
	)

获取变量值

参数

key
default_value

返回

Python函数原型

getVecInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[int]) -> List[int]

Lua函数原型

getVecInt32(key: string, default_value: table) -> table

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.getVecInt32","params":["custom",[]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":[1,2,3,4]}

int arcs::common_interface::RegisterControl::getWatchDogAction

(

const std::string &

key

)

获取看门狗动作

参数

key

返回

int arcs::common_interface::RegisterControl::getWatchDogTimeout

(

const std::string &

key

)

获取看门狗超时时间

参数

key

返回

bool arcs::common_interface::RegisterControl::hasNamedVariable

(

const std::string &

key

)

具名变量是否存在

参数

key

变量名

返回

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.hasNamedVariable","params":["custom"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":false}

int arcs::common_interface::RegisterControl::modbusAddSignal	(	const std::string &	device_info,
		int	slave_number,
		int	signal_address,
		int	signal_type,
		const std::string &	signal_name,
		bool	sequential_mode
	)

Adds a new modbus signal for the controller to supervise.

Expects no response.

添加一个新的Modbus信号以供控制器监视。不需要返回响应。

参数

device_info

is rtu format. eg,"serial_port,baud,parity,data_bit,stop_bit" (1)The serial_port argument specifies the name of the serial port eg. On Linux ,"/dev/ttyS0" or "/dev/ttyUSB0". On Windows, \.". (2)The baud argument specifies the baud rate of the communication, eg. 9600, 19200, 57600, 115200, etc. (3)parity:N for none,E for even,O for odd. (4)data_bit:The data_bits argument specifies the number of bits of data, the allowed values are 5, 6, 7 and 8. (5)stop_bit:The stop_bits argument specifies the bits of stop, the allowed values are 1 and 2.

device_info is tcp format.eg,"ip address,port"
(1)The ip address parameter specifies the ip address of the server
(2)The port parameter specifies the port number that the server is listening on.

设备信息
设备信息是RTU格式， 例如："serial_port,baud,parity,data_bit,stop_bit"
(1)serial_port参数指定串口的名称， 例如，在Linux上为"/dev/ttyS0"或"/dev/ttyUSB0"，在Windows上为"\.\COM10"
(2)baud参数指定通信的波特率，例如9600、19200、57600、115200等
(3)parity参数指定奇偶校验方式，N表示无校验，E表示偶校验，O表示奇校验
(4)data_bit参数指定数据位数，允许的值为5、6、7和8
(5)stop_bit参数指定停止位数，允许的值为1和2

设备信息是TCP格式，例如："ip address,port"
(1)ip address参数指定服务器的IP地址
(2)port参数指定服务器监听的端口号

参数

slave_number	An integer normally not used and set to 255, but is a free choice between 0 and 255. 通常不使用，设置为255即可，但可以在0到255之间自由选择
signal_address	An integer specifying the address of the either the coil or the register that this new signal should reflect. Consult the configuration of the modbus unit for this information. 指定新信号应该反映的线圈或寄存器的地址。 请参考Modbus单元的配置以获取此信息。
signal_type	An integer specifying the type of signal to add. 0 = digital input, 1 = digital output, 2 = register input and 3 = register output. 指定要添加的信号类型。 0 = 数字输入，1 = 数字输出，2 = 寄存器输入，3 = 寄存器输出。
signal_name	A string uniquely identifying the signal. If a string is supplied which is equal to an already added signal, the new signal will replace the old one. The length of the string cannot exceed 20 characters. 唯一标识信号的名词。 如果提供的字符串与已添加的信号相等，则新信号将替换旧信号。 字符串的长度不能超过20个字符。
sequential_mode	Setting to True forces the modbus client to wait for a response before sending the next request. This mode is required by some fieldbus units (Optional). 设置为True会强制Modbus客户端在发送下一个请求之前等待响应。 某些fieldbus单元需要此模式。 可选参数。

返回

Python函数原型

modbusAddSignal(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, arg2: int, arg3: int, arg4: str, arg5: bool) -> int

Lua函数原型

modbusAddSignal(device_info: string, slave_number: number, signal_address: number, signal_type: number, signal_name: string, sequential_mode: boolean) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusAddSignal","params":["/dev/ttyRobotTool, 115200,N,8,1",1,264,3,"Modbus_0",false],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::modbusDeleteAllSignals

(

)

Delete all modbus signals.

返回

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusDeleteAllSignals","params":[],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::modbusDeleteSignal

(

const std::string &

signal_name

)

Deletes the signal identified by the supplied signal name.

删除指定名称的信号。

参数

signal_name

A string equal to the name of the signal that should be deleted. 要删除的信号的名称

返回

Python函数原型

modbusDeleteSignal(self: pyaubo_sdk.RegisterControl, arg0: str) -> int

Lua函数原型

modbusDeleteSignal(signal_name: string) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusDeleteSignal","params":["Modbus_1"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::modbusGetSignalError

(

const std::string &

signal_name

)

获取指定 modbus 信号的错误状态

参数

signal_name

返回

返回错误代码 ModbusErrorNum

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalError","params":["Modbus_0"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":6}

std::vector<int> arcs::common_interface::RegisterControl::modbusGetSignalErrors

(

)

获取所有信号的请求是否有错误(0:无错误,其他:有错误)集合

返回

ModbusErrorNum

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalErrors","params":[],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":[6,6,6,6]}

int arcs::common_interface::RegisterControl::modbusGetSignalIndex

(

const std::string &

signal_name

)

获取指定 modbus 信号索引，从0开始，不能存在则返回-1

参数

signal_name

返回

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalIndex","params":["Modbus_0"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

std::vector<std::string> arcs::common_interface::RegisterControl::modbusGetSignalNames

(

)

获取所有信号的名字集合

返回

所有信号的名字集合

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalNames","params":[],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":["Modbus_0"]}

int arcs::common_interface::RegisterControl::modbusGetSignalStatus

(

const std::string &

signal_name

)

Reads the current value of a specific signal.

读取特定信号的当前值。

参数

signal_name

A string equal to the name of the signal for which the value should be gotten. 要获取值的信号的名称

返回

An integer or a boolean. For digital signals: 1 or 0. For register signals: The register value expressed as an integer.If the value is -1, it means the signal does not exist 对于数字信号：1或0。 对于寄存器信号：表示为整数的寄存器值。如果值为-1，则表示该信号不存在。

Python函数原型

modbusGetSignalStatus(self: pyaubo_sdk.RegisterControl, arg0: str) -> int

Lua函数原型

modbusGetSignalStatus(signal_name: string) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalStatus","params":["Modbus_0"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":1}

std::vector<int> arcs::common_interface::RegisterControl::modbusGetSignalTypes

(

)

获取所有信号的类型集合

返回

所有信号的类型集合

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalTypes","params":[],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":[1,0,2,3]}

std::vector<int> arcs::common_interface::RegisterControl::modbusGetSignalValues

(

)

获取所有信号的数值集合

返回

所有信号的数值集合

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusGetSignalValues","params":[],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":[1,1,88,33]}

int arcs::common_interface::RegisterControl::modbusSendCustomCommand	(	const std::string &	device_info,
		int	slave_number,
		int	function_code,
		const std::vector< uint8_t > &	data
	)

Sends a command specified by the user to the modbus unit located on the specified IP address.

Cannot be used to request data, since the response will not be received. The user is responsible for supplying data which is meaningful to the supplied function code. The builtin function takes care of constructing the modbus frame, so the user should not be concerned with the length of the command.

将用户指定的命令发送到指定IP地址上的Modbus单元。 由于不会接收到响应，因此不能用于请求数据。 用户负责提供对所提供的功能码有意义的数据。 内置函数负责构建Modbus帧，因此用户不需要关心命令的长度。

参数

device_info

is rtu format. eg,"serial_port,baud,parity,data_bit,stop_bit" (1)The serial_port argument specifies the name of the serial port eg. On Linux ,"/dev/ttyS0" or "/dev/ttyUSB0". On Windows, \.". (2)The baud argument specifies the baud rate of the communication, eg. 9600, 19200, 57600, 115200, etc. (3)parity:N for none,E for even,O for odd. (4)data_bit:The data_bits argument specifies the number of bits of data, the allowed values are 5, 6, 7 and 8. (5)stop_bit:The stop_bits argument specifies the bits of stop, the allowed values are 1 and 2.

device_info is tcp format.eg,"ip address,port"

设备信息
设备信息是RTU格式， 例如："serial_port,baud,parity,data_bit,stop_bit"
(1)serial_port参数指定串口的名称， 例如，在Linux上为"/dev/ttyS0"或"/dev/ttyUSB0"，在Windows上为"\.\COM10"
(2)baud参数指定通信的波特率，例如9600、19200、57600、115200等
(3)parity参数指定奇偶校验方式，N表示无校验，E表示偶校验，O表示奇校验
(4)data_bit参数指定数据位数，允许的值为5、6、7和8
(5)stop_bit参数指定停止位数，允许的值为1和2

设备信息是TCP格式，例如："ip address,port"
(1)ip address参数指定服务器的IP地址
(2)port参数指定服务器监听的端口号

参数

slave_number	An integer specifying the slave number to use for the custom command. 指定用于自定义命令的从站号
function_code	An integer specifying the function code for the custom command. 指定自定义命令的功能码

Modbus function codes MODBUS_FC_READ_COILS 0x01 MODBUS_FC_READ_DISCRETE_INPUTS 0x02 MODBUS_FC_READ_HOLDING_REGISTERS 0x03 MODBUS_FC_READ_INPUT_REGISTERS 0x04 MODBUS_FC_WRITE_SINGLE_COIL 0x05 MODBUS_FC_WRITE_SINGLE_REGISTER 0x06 MODBUS_FC_READ_EXCEPTION_STATUS 0x07 MODBUS_FC_WRITE_MULTIPLE_COILS 0x0F MODBUS_FC_WRITE_MULTIPLE_REGISTERS 0x10 MODBUS_FC_REPORT_SLAVE_ID 0x11 MODBUS_FC_MASK_WRITE_REGISTER 0x16 MODBUS_FC_WRITE_AND_READ_REGISTERS 0x17

参数

data	An array of integers in which each entry must be a valid byte (0-255) value. 必须是有效的字节值（0-255）

返回

Python函数原型

modbusSendCustomCommand(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, arg2: int, arg3: List[int]) -> int

Lua函数原型

modbusSendCustomCommand(device_info: string, slave_number: number, function_code: number, data: table) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusSendCustomCommand","params":["/dev/ttyRobotTool,115200,N,8,1",1,10,[1,2,0,2,4,0,0,0,0]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::modbusSetDigitalInputAction	(	const std::string &	robot_name,
		const std::string &	signal_name,
		StandardInputAction	action
	)

Sets the selected digital input signal to either a "default" or "freedrive" action.

将选择的数字输入信号设置为“default”或“freedrive”

参数

robot_name	A string identifying a robot name that conncted robot 连接的机器人名称
signal_name	A string identifying a digital input signal that was previously added. 先前被添加的数字输入信号
action	The type of action. The action can either be "default" or "freedrive". (string) 操作类型。操作可以是“default”或“freedrive”

返回

Python函数原型

modbusSetDigitalInputAction(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str, arg2: int)

Lua函数原型

modbusSetDigitalInputAction(robot_name: string, signal_name: string, action: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusSetDigitalInputAction","params":["rob1","Modbus_0","Handguide"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::modbusSetOutputRunstate	(	const std::string &	robot_name,
		const std::string &	signal_name,
		StandardOutputRunState	runstate
	)

设置 Modbus 信号输出动作

参数

robot_name
signal_name
runstate

返回

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputRunstate","params":["rob1","Modbus_0","None"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::modbusSetOutputSignal	(	const std::string &	signal_name,
		uint16_t	value
	)

Sets the output register signal identified by the given name to the given value.

将指定名称的输出寄存器信号设置为给定的值

参数

signal_name	A string identifying an output register signal that in advance has been added. 提前被添加的输出寄存器信号
value	An integer which must be a valid word (0-65535) 必须是有效的整数，范围是 0-65535

返回

Python函数原型

modbusSetOutputSignal(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int

Lua函数原型

modbusSetOutputSignal(signal_name: string, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignal","params":["Modbus_0",0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::modbusSetOutputSignalPulse	(	const std::string &	signal_name,
		uint16_t	value,
		double	duration
	)

设置modbus信号输出脉冲(仅支持线圈输出类型)

参数

signal_name	A string identifying an output register signal that in advance has been added. 提前被添加的输出寄存器信号
value	An integer which must be a valid word (0-65535) 必须是有效的整数，范围是 0-65535
duration	Duration of the signal, in seconds

返回

Python函数原型

modbusSetOutputSignalPulse(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int, arg2 double) -> int

Lua函数原型

modbusSetOutputSignalPulse(signal_name: string, value: number, duration: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusSetOutputSignalPulse","params":["Modbus_0",1,0.5],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::modbusSetSignalUpdateFrequency	(	const std::string &	signal_name,
		int	update_frequency
	)

Sets the frequency with which the robot will send requests to the Modbus controller to either read or write the signal value.

设置机器人向Modbus控制器发送请求的频率，用于读取或写入信号值

参数

signal_name	A string identifying an output digital signal that in advance has been added. 提前被添加的输出数字信号
update_frequency	An integer in the range 0-125 specifying the update frequency in Hz. 更新频率（以赫兹为单位），范围是0-125

返回

Python函数原型

modbusSetSignalUpdateFrequency(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int

Lua函数原型

modbusSetSignalUpdateFrequency(signal_name: string, update_frequency: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.modbusSetSignalUpdateFrequency","params":["Modbus_0",1],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setBool	(	const std::string &	key,
		bool	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setBool(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: bool) -> int

Lua函数原型

setBool(key: string, value: boolean) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setBool","params":["custom",true],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setBoolInput	(	uint32_t	address,
		bool	value
	)

参数

address
value

返回

注解

只有在实现 RTDE/Modbus Slave/PLC 服务端时使用

Python函数原型

setBoolInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: bool) -> int

Lua函数原型

setBoolInput(address: number, value: boolean) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setBoolInput","params":[0,true],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setBoolOutput	(	uint32_t	address,
		bool	value
	)

参数

address
value

返回

Python函数原型

setBoolOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: bool) -> int

Lua函数原型

setBoolOutput(address: number, value: boolean) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setBoolOutput","params":[0,false],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setDouble	(	const std::string &	key,
		double	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> int

Lua函数原型

setDouble(key: string, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setDouble","params":["custom",6.6],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setDoubleInput	(	uint32_t	address,
		double	value
	)

参数

address
value

返回

注解

只有在实现 RTDE/Modbus Slave/PLC 服务端时使用

Python函数原型

setDoubleInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) -> int

Lua函数原型

setDoubleInput(address: number, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setDoubleInput","params":[0,6.6],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setDoubleOutput	(	uint32_t	address,
		double	value
	)

参数

address
value

返回

Python函数原型

setDoubleOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) -> int

Lua函数原型

setDoubleOutput(address: number, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setDoubleOutput","params":[0,4.4],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setFloat	(	const std::string &	key,
		float	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: float) -> int

Lua函数原型

setFloat(key: string, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setFloat","params":["custom",4.4],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setFloatInput	(	uint32_t	address,
		float	value
	)

参数

address
value

返回

注解

只有在实现 RTDE/Modbus Slave/PLC 服务端时使用

Python函数原型

setFloatInput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) -> int

Lua函数原型

setFloatInput(address: number, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setFloatInput","params":[0,3.3],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setFloatOutput	(	uint32_t	address,
		float	value
	)

参数

address
value

返回

Python函数原型

setFloatOutput(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: float) -> int

Lua函数原型

setFloatOutput(address: number, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setFloatOutput","params":[0,5.5],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setInt16Register	(	uint32_t	address,
		int16_t	value
	)

参数

address
value

返回

Python函数原型

setInt16Register(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> int

Lua函数原型

setInt16Register(address: number, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setInt16Register","params":[0,0],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setInt32	(	const std::string &	key,
		int	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> int

Lua函数原型

setInt32(key: string, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setInt32","params":["custom",6],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setInt32Input	(	uint32_t	address,
		int	value
	)

参数

address
value

返回

注解

只有在实现 RTDE/Modbus Slave/PLC 服务端时使用

Python函数原型

setInt32Input(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> int

Lua函数原型

setInt32Input(address: number, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setInt32Input","params":[0,33],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setInt32Output	(	uint32_t	address,
		int	value
	)

参数

address
value

返回

Python函数原型

setInt32Output(self: pyaubo_sdk.RegisterControl, arg0: int, arg1: int) -> int

Lua函数原型

setInt32Output(address: number, value: number) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setInt32Output","params":[0,100],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setString	(	const std::string &	key,
		const std::string &	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setString(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: str) -> int

Lua函数原型

setString(key: string, value: string) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setString","params":["custom","test"],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setVecChar	(	const std::string &	key,
		const std::vector< char > &	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setVecChar(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[str]) -> int

Lua函数原型

setVecChar(key: string, value: table) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setVecChar","params":["custom",[0,1,0]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setVecDouble	(	const std::string &	key,
		const std::vector< double > &	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setVecDouble(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[float]) -> int

Lua函数原型

setVecDouble(key: string, value: table) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setVecDouble","params":["custom",[0.1,0.2,0.3]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setVecFloat	(	const std::string &	key,
		const std::vector< float > &	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setVecFloat(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[float]) -> int

Lua函数原型

setVecFloat(key: string, value: table) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setVecFloat","params":["custom",[0.0,0.1,3.3]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setVecInt32	(	const std::string &	key,
		const std::vector< int32_t > &	value
	)

设置/更新变量值

参数

key
value

返回

Python函数原型

setVecInt32(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: List[int]) -> int

Lua函数原型

setVecInt32(key: string, value: table) -> nil

JSON-RPC请求示例

{"jsonrpc":"2.0","method":"RegisterControl.setVecInt32","params":["custom",[1,2,3,4]],"id":1}

JSON-RPC响应示例

{"id":1,"jsonrpc":"2.0","result":0}

int arcs::common_interface::RegisterControl::setWatchDog	(	const std::string &	key,
		double	timeout,
		int	action
	)

设置看门狗

看门狗被触发之后控制器会执行对应的动作，并自动删除看门狗

参数

key
timeout	超时时间，单位秒(s)，超时时间最小为 0.1s
action	NONE (0): 无动作 PAUSE(1): 暂停运行时 STOP (2): 停止运行时/停止机器人运动 PROTECTIVE_STOP (3): 触发防护停止

返回

bool arcs::common_interface::RegisterControl::variableUpdated	(	const std::string &	key,
		uint64_t	since
	)

具名变量是否更新

参数

key
since

返回

Python函数原型

variableUpdated(self: pyaubo_sdk.RegisterControl, arg0: str, arg1: int) -> bool

Lua函数原型

variableUpdated(key: string, since: number) -> boolean

类成员变量说明

void* arcs::common_interface::RegisterControl::d_

protected

在文件 register_control.h 第 1542 行定义.

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该类的文档由以下文件生成:

• include/aubo/register_control.h